using MathNet.Numerics.LinearAlgebra;
using OpenCvSharp;
using Prism.Commands;
using Prism.Events;
using Prism.Ioc;
using Prism.Mvvm;
using Prism.Regions;
using Prism.Services.Dialogs;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Windows;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP;
using TeamAAS_VP.Core;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.Calibration;
using TeamAAS_VP.Services;

namespace TeamAAS_VP.ViewModels.Calibration
{
    public class CalibrationSelectToolViewModel : BindableBase, IConfirmNavigationRequest
    {
        IRegionManager _regionManager;
        IRegionNavigationService _regionNavigationService;
        IContainerProvider _container;
        IDialogService _dialogService;
        IEventAggregator _eventAggregator;
        IConfigService _configService;
        IRobotService _robotService;
        ICameraService _cameraService;
        IFeederService _feederService;
        ISystemDatabaseService _systemDatabaseService;

        #region 属性
        private CalibrationInfo _SelectCalibration;

        public CalibrationInfo SelectCalibration
        {
            get { return _SelectCalibration; }
            set { SetProperty(ref _SelectCalibration, value); }
        }
        public Management management { get; set; }
        public IRobot Robot { get; set; }
        #endregion

        #region 命令
        private DelegateCommand _LoadedCommand;
        public DelegateCommand LoadedCommand =>
            _LoadedCommand ?? (_LoadedCommand = new DelegateCommand(ExecuteLoadedCommand));
        private DelegateCommand _NextCommand;
        public DelegateCommand NextCommand =>
            _NextCommand ?? (_NextCommand = new DelegateCommand(ExecuteNextCommand));

        private DelegateCommand _BackCommand;
        public DelegateCommand BackCommand =>
            _BackCommand ?? (_BackCommand = new DelegateCommand(ExecuteBackCommand));

        private DelegateCommand _CalibToolCommand;
        public DelegateCommand CalibToolCommand =>
            _CalibToolCommand ?? (_CalibToolCommand = new DelegateCommand(ExecuteCalibToolCommand));

        #endregion

        #region 事件

        #endregion

        public CalibrationSelectToolViewModel(IRegionManager regionManager, IEventAggregator ea, IRegionNavigationService regionNavigationService, IContainerProvider container, IDialogService dialogService,
            IConfigService configService, IRobotService robotService, ICameraService cameraService, IFeederService feederService, ISystemDatabaseService systemDatabaseService)
        {
            _regionManager = regionManager;
            _regionNavigationService = regionNavigationService;
            _container = container;
            _dialogService = dialogService;
            _eventAggregator = ea;
            _configService = configService;
            _robotService = robotService;
            _cameraService = cameraService;
            _feederService = feederService;
            _systemDatabaseService = systemDatabaseService;
        }

        #region 方法
        void ExecuteLoadedCommand()
        {
            if (_systemDatabaseService.GetCurrentUser().userPart == Enums.UserPart.Operator)
            {
                IsAllowEdit = false;
            }
            else
            {
                IsAllowEdit = true;
            }
        }

        /// <summary>
        /// 跳转至校准工具界面
        /// </summary>
        void ExecuteCalibToolCommand()
        {
            try
            {
                IDialogParameters parameters = new DialogParameters();
                parameters.Add("SelectCalibration", SelectCalibration);
                _dialogService.Show("CalibTool", parameters, rst =>
                {
                    //对话框关闭之后的回调函数，可以在这解析结果。
                    ButtonResult result1 = rst.Result;

                    if (result1 == ButtonResult.OK)
                    {
                        var param = rst.Parameters.GetValue<RobotTool>("Tool");
                        var param1 = rst.Parameters.GetValue<Matrix<double>>("RobotCameraRotationMatrix");
                        var param2 = rst.Parameters.GetValue<double>("Angle");
                        if (param != null)
                        {
                            SelectCalibration.Tool = param;
                        }
                        if (param1 != null)
                        {
                            SelectCalibration.RobotCameraRotationMatrix = param1.ToArray();
                        }
                        SelectCalibration.Angle = param2;

                        SelectCalibration.CenterPoint = Robot.GetRobotPos();

                        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "完成！", Duration = 1 });
                    }

                });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准-选择工具坐标界面跳转至校准工具界面出错!", ex);
                MessageBox.Show(ex.Message);
            }
        }
        /// <summary>
        /// 下一步
        /// </summary>
        void ExecuteNextCommand()
        {
            NavigationParameters param = new NavigationParameters();
            param.Add("SelectCalibration", SelectCalibration);
            if (SelectCalibration.CameraMount== Enums.CameraMount.MobileDown_IndependentXYPlatform)
            {
                _regionManager.RequestNavigate("CalibrationRegionContext", "CalibIndependentCamera", param);
            }
            else
            {
                _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationAuto", param);
            }
        }

        /// <summary>
        /// 上一步
        /// </summary>
        void ExecuteBackCommand()
        {
            NavigationParameters param = new NavigationParameters();
            param.Add("SelectCalibration", SelectCalibration);
            _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationTeachCenterPoint", param);
        }
        #endregion

        #region 继承
        /// <summary>
        /// 确认导航请求时调用。此方法允许您在导航之前执行一些操作。
        /// </summary>
        /// <param name="navigationContext"></param>
        /// <param name="continuationCallback"></param>
        public void ConfirmNavigationRequest(NavigationContext navigationContext, Action<bool> continuationCallback)
        {
            continuationCallback(true);
        }

        /// <summary>
        /// 接收导航请求时调用。传入导航参数，包含有关导航目标的信息。
        /// </summary>
        /// <param name="navigationContext"></param>
        /// <exception cref="NotImplementedException"></exception>
        public async void OnNavigatedTo(NavigationContext navigationContext)
        {
            SelectCalibration = navigationContext.Parameters.GetValue<CalibrationInfo>("SelectCalibration");
            if (SelectCalibration != null)
            {
                Robot = _robotService.GetRobot(SelectCalibration.RobotId);
            }
        }

        /// <summary>
        /// 是否允许导航到此视图模型。
        /// </summary>
        /// <param name="navigationContext"></param>
        /// <returns></returns>
        public bool IsNavigationTarget(NavigationContext navigationContext)
        {
            return true;
        }

        /// <summary>
        /// 导航离开此视图模型时调用。您可以在此处执行清理操作或保存状态。
        /// </summary>
        /// <param name="navigationContext"></param>
        public void OnNavigatedFrom(NavigationContext navigationContext)
        {

        }
        #endregion

        private bool _IsAllowEdit = false;

        public bool IsAllowEdit
        {
            get { return _IsAllowEdit; }
            set { SetProperty(ref _IsAllowEdit, value); }
        }

        private void LoginChange(Models.User user)
        {
            if (user.userPart == Enums.UserPart.Operator)
            {
                IsAllowEdit = false;
            }
            else
            {
                IsAllowEdit = true;
            }
        }
    }
}